Ardupilot MAVROS minimal example
Objective#
Minimal connection to arducopter with mavros
- Run SITL (without gazebo)
- Run MAVROS
- Get State and change mode
SITL#
terminal1
sim_vehicle.py -v ArduCopter
mavros#
terminal2
ros2 run mavros mavros_node --ros-args -p fcu_url:=udp://:14550@
rqt#
terminal3
ros2 run rqt_gui rqt_gui
- Load topic_monitor plugin
- mark
mavros/statetopic - Load Service Caller plugin
- select
mavros/set_modeservice

- Set service
custom modefield toGUIDEDand call - Check that
mavros/statetopic changed
